Forthcoming and Online First Articles

International Journal of Advanced Mechatronic Systems

International Journal of Advanced Mechatronic Systems (IJAMechS)

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International Journal of Advanced Mechatronic Systems (2 papers in press)

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  • Swing-up design of double inverted pendulum by using passive control method based on operator theory   Order a copy of this article
    by Ni Bu, Xiaoguang Wang 
    Abstract: For the double inverted pendulum system with limited guide rails, a self-starting pendulum control scheme by combining the passivity-based control (PBC) and operator-based robust right coprime factorisation (ORRCF) method is proposed. A three-step hierarchical swing control scheme is designed, and the control method of each step and the switching rules between each step are given. The passivity and robustness of the system are improved by the control scheme of PBC combined with ORRCF method, and the entire self-lifting and stabilisation process is controlled. The influence of external disturbance during the switching process of the swing control and the state change of the pendulum rod on the displacement of the car is overcome. The effectiveness of the control scheme has been verified by the simulation results.
    Keywords: passivity-based control; robust right coprime factorisation; operator theory; double inverted pendulum; swing-up control.
    DOI: 10.1504/IJAMECHS.2022.10047303
     
  • Fractional order adaptive MRAC controller design for high-accuracy position control of an industrial robot arm   Order a copy of this article
    by Tounes Seghiri, Samir Ladaci, Salim Haddad 
    Abstract: Most of conventional feedback controllers become inefficient in hard industrial environments like in steel industry, because of uncertainties in the plant model, or process dynamics variation due to nonlinear actuators, changes in the character of the disturbances. This paper proposes an adaptive control design based on fractional order model reference adaptive control (FOMRAC) strategy in order to deal with an uncertain horizontal positioning control of an unloading machine in a rotary hearth furnace for hot rolling operation. The proposed FOMRAC scheme uses the MIT rule as an adaptive mechanism with two main modifications comparatively to the conventional MRAC: the reference model is an adequate fractional order system and the parameter adjustment rule contains a fractional order integrator. Stability analysis of the proposed control scheme is performed using the Lyapunov stability theorem. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes applied to an industrial robot arm loading round steel blocks from inside a rotary hearth furnace. After comparison with the conventional MRAC, it is shown that the performances of FOMRAC are superior to classical control schemes.
    Keywords: fractional order control; adaptive control; FOMRAC; industrial robot; high-accuracy position control; unloading machine.
    DOI: 10.1504/IJAMECHS.2022.10047818